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Het Maheshkumar Sekhalia
Entry-level Robotics Researcher specializing in autonomy, motion planning, and control
Pittsburgh, PAGraduate Researcher, CERLAB – Prof. Kenji Shimada1 years experienceEntry-LevelRoboticsAutonomous VehiclesIndustrial Automation
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About
Robotics software engineer focused on simulation-first autonomy and learning: implemented TD3 and CLIP-guided pretraining for physics-based humanoid skill learning in Isaac Gym/DeepMimic. Also built a ROS2 + dual-Docker closed-loop stack for an autonomous wheel loader in Isaac Sim, combining global planning, B-spline smoothing, and real-time NMPC control.
Experience
Graduate Researcher, CERLAB – Prof. Kenji ShimadaKomatsu Ltd.
Education
Carnegie Mellon Universitymaster, Mechanical Engineering (Research) (2026)
Indian Institute of Technology (IIT) Indorebachelor, Mechanical Engineering (2024)
Key Strengths
- Implemented TD3 into an existing DeepMimic humanoid training framework
- Integrated CLIP text embeddings to speed up humanoid pre-training via semantic motion similarity
- Built ROS2-based closed-loop autonomy stack in simulation (planning, smoothing, feedback, NMPC control)
- Resolved ROS2–Isaac Sim package conflicts using a dual-Docker container architecture
- Improved interception motion planning using a two-stage pursuit planner with a multi-goal A* fallback under cost constraints
- Designed modular ROS2 interfaces/message contracts to decouple subsystems and improve synchronization/fault isolation
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